EP0880674B1 - Systeme de mesure point par point de coordonnees spatiales - Google Patents

Systeme de mesure point par point de coordonnees spatiales Download PDF

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Publication number
EP0880674B1
EP0880674B1 EP96935602A EP96935602A EP0880674B1 EP 0880674 B1 EP0880674 B1 EP 0880674B1 EP 96935602 A EP96935602 A EP 96935602A EP 96935602 A EP96935602 A EP 96935602A EP 0880674 B1 EP0880674 B1 EP 0880674B1
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EP
European Patent Office
Prior art keywords
camera
point
laser
rangefinder
light
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Expired - Lifetime
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EP96935602A
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German (de)
English (en)
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EP0880674A1 (fr
Inventor
Alf Pettersen
Yvind R Tvold
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Metronor Industrial AS
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Metronor AS
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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • G01S5/163—Determination of attitude

Definitions

  • the present application relates to a system for point-by-point measuring of spatial coordinates, as disclosed in the preamble of the attached claim 1.
  • Modern photogrammetry systems are based on video camera technique. These register the position of points in the form of active light sources, reflecting points or characteristics of the object to be measured (e.g., holes).
  • the points may be registered simultaneously by two or more cameras, or they can be imaged sequentially from a number of different camera positions.
  • the spatial position of the points is calculated using mathematical methods which include the automatic determination of the position and orientation of the cameras for each individual image, and also correction for the cameras' lens errors and other factors which produce a non-ideal image.
  • the cameras may also be pre-calibrated, i.e., correction of the image points is based on a calibration table or other mathematical correction.
  • Metronor's system is based on pre-calibrated cameras.
  • the system is optimised in order to determine the position of active light sources.
  • a measuring tool known as a light pen is used to mark the points that are to be measured.
  • the light pen has a minimum of three light sources in known positions relative to its contact point. The coordinates of the contact point can be determined by simultaneously taking the image of the light sources.
  • Imetric and GSI offer systems where the cameras are not pre-calibrated, but are calibrated for each individual measuring operation.
  • the cameras register the position of retroreflector targets. These are illuminated by flash lamps mounted on the cameras.
  • the companies have also developed touch tools similar to Metronor's light pen, where the active light sources are replaced by retroreflector targets.
  • the photogrammetry systems determine directions in space through imaging (projection). The accuracy depends on the quality of the camera, the nature of the points to be measured, and in particular on the geometrical factors. Geometrical factors which influence accuracy are position, density and distribution of measuring points, the number of cameras or images, and position and orientation of the cameras, and also whether the cameras' lens errors are pre-determined.
  • the chief disadvantage of photogrammetry systems is that a measuring point must be registrable by two cameras simultaneously or in sequence by locating a camera in at least two different positions.
  • Laser rangefinders based on interferometry are internationally known under the product name "Laser tracker".
  • a laser tracker consists of a laser, a mirror system for controlling the laser, a reflector unit, distance and direction sensors, and a computer.
  • the reflector unit also known as a "corner cube” or prism reflector, reflects light back parallel to the emitted beam.
  • the laser beam is steered so that it always strikes the reflector unit. This is accomplished in that the laser tracker contains a sensor which detects the striking point on the reflector unit.
  • a laser tracker registers both direction and distance, and hence three-dimensional coordinates of the measuring point.
  • the distance is determined by interferometry.
  • the direction is determined by registering the orientation of the mirrors. The distance measurement exhibits high accuracy, whereas the direction is often determined with less precision.
  • Leica and Chesapeake Lasers are among the companies producing laser trackers.
  • laser rangefinders are based on the modulation of emitted laser light, and the detection of the phase of the detected light. Fine resolution requires a high modulation frequency to be used. In order to avoid ambiguity when the reflecting point is moved more than one modulation period, several modulation frequencies are used, and the total phase gives the absolute distance. Thus, an absolute rangefinder is obtained.
  • Routine inspection of mechanical structures is often based on measuring a number of fixed control points. This applies, for example, to production fixtures in the aviation industry.
  • the control points may be made in the form of holes of a fixed diameter. Targets for photogrammetry, theodolite measuring or laser trackers are produced for these holes. Routine inspection of the structures involves the regular measurement of these points.
  • Figure 1 illustrates components which are included in a system based on a combination of camera and laser rangefinder.
  • Figure 2 illustrates a touch tool having five light sources and a reflecting point for the laser rangefinder.
  • Figure 3 illustrates a system based on one camera in combination with a laser rangefinder and touch tool.
  • Figure 4 illustrates a system based on two cameras in combination with a laser rangefinder and a touch tool.
  • Figure 5 illustrates a system based on one camera in combination with a laser rangefinder where the touch tool has reflecting points for registration of both camera and laser rangefinder.
  • Figure 6 illustrates an arrangement where one camera in combination with a laser rangefinder is used for measuring the position of a touch tool having reflecting points, and also isolated reflecting points. Both touch tool and isolated reflecting points are registered by both camera and laser rangefinder.
  • Figure 7 illustrates a principle for calibration of the geometric relation between position and orientation of camera and laser distance measurement.
  • Figure 8 illustrates an integrated camera and laser rangefinder system.
  • the term "reflecting point” is used with regard to units located to provide unambiguous registration by camera or laser rangefinder, in that the emitted light is reflected back to the sensor units.
  • This comprises so-called retroreflective targets or reflective tape produced for use with photogrammetry systems or theodolites, or so-called “corner cubes” used with laser rangefinders.
  • the term "light giving means” is used as a collective term comprising active light sources (emitters) such as light emitting diodes or laser diodes, and reflecting points.
  • laser rangefinder is used as a collective term for all types of systems based on a laser beam which is directed in towards a specific point in order to compute the distance to that point. This includes both laser interferometry techniques (laser trackers) and systems based on measuring the time difference from when a light pulse is emitted to when the reflected pulse is registered, or phase modulation/measurement or combinations of these techniques.
  • the function of the system will depend upon whether the laser rangefinder is absolute or relative. In a relative rangefinder (for example, based on interferometric principles) the laser beam must follow the reflecting point continuously without interruption. If the laser rangefinder also contains precise direction determination this will be used in the computation of position.
  • the complete system solution is shown in Figure 1 in the form of a block diagram.
  • the system contains a system console 1 containing a data processor 2, a laser rangefinder control unit 3, a camera control unit 4 and a light source control unit 5.
  • the system is operated from an operator terminal 6.
  • the system contains one or more cameras 7, 8. These may be equipped with flash lamps 9, 10.
  • the system contains a laser rangefinder unit 11 consisting of a laser and sensor unit 12 and mirror 13 for steering the laser beam 14 in the right direction.
  • the laser rangefinder will contain two mirrors mounted at right angles to one another, to enable the laser beam to be directed in towards any point in space. In the figure only one of these mirrors 13 is outlined.
  • the system may contain various tools for position determination: reference rod 15 for calibration, light sources 16 connected to a connection box 17 for marking reference points, touch tool 18, also known as a light pen, and reflecting point 19.
  • Figure 2 shows the touch tool 18 seen from in front (Fig. 2a) and seen from the side (Fig. 2b). It consists of a body 20 which is preferably produced in a temperature-resistant material in order to avoid temperature expansion, a plurality of light sources 21 - 25, activation switches 26, 27, reflecting point 28, tool adapter 29 and contact point 30. The minimum number of light sources is three. These are mounted in known coordinates relative to a local tool-fixed coordinate system.
  • the contact point 30 (reference point) can be in the form of a sphere or a tip. By virtue of the fact that the position of this point is also known relative to the local coordinate system, the position of the touch tool can be related to this point.
  • the contact point 30 lies on a straight line through both light sources.
  • the touch tool will primarily function as described in Swedish Patent No. 456 454, and will be capable of having replaceable tools as described in Norwegian Patent No. 169 799.
  • the design of the reflecting point will depend upon the type of laser rangefinder that is used. If the rangefinder requires the use of retrorflectors, e.g., corner cubes, this could be fixedly mounted, or could be a detachable unit which is fitted in an accompanying fixing mechanism on the touch tool.
  • Figure 3 shows the measuring principle when using one camera 7 in combination with a laser rangefinder 11.
  • the camera consists of a lens unit 33, and a two-dimensional array (matrix) 32 of photosensitive elements.
  • the lens unit is an objective having standard spherical optics, having a focal length substantially dictated by the required visual field.
  • the lens's optional anti-reflex coating or optical filter must be adapted to the spectral distribution in the light sources used.
  • the photosensitive elements are, for instance, of the CCD (Charge Coupled Device) or CID (Charge Injected Device) type.
  • CCD Charge Coupled Device
  • CID Charge Injected Device
  • the requirements with respect to high accuracy mean that matrices having maximum resolution will normally be used. If the speed of the system is of primary importance, matrices having fewer elements will be used. High accuracy can be ensured by using accurate calibration of the angle measuring device. This may for example be done as described in Norwegian Patent 165046.
  • the camera 7 registers a light source 21 in the form of the position of its image 35 on the sensor matrix 32.
  • the operator positions the touch tool 18 so that the contact point 30 touches the actual point to be registered.
  • the camera 7 registers the image of all light sources 21 - 25, and on the basis of the image the position and orientation of the touch tool is computed as described in Norwegian Patent No. 174 025.
  • the rangefinder 11 registers the distance to the reflecting point 28.
  • the laser beam 14 is directed in towards the reflecting point 28 by means of mirror 13 which is controlled by motor 31.
  • a single mirror 13 is indicated in the figure. In order to be able to direct the beam 14 in towards any point in space, there will be two mirrors. One of them controls the horizontal adjustment of the beam, and the other its vertical direction.
  • Laser and sensor unit 12 registers the distance to the reflecting point 28.
  • the registered image from the camera 7 is combined with the registered distance from the laser rangefinder 11 to the point 28, so that highest possible precision is obtained in the computed position of the contact point 30. If the laser rangefinder also registers the direction of the laser beam (as in commercially available laser trackers), the registered direction is also used in the computation. The computation is based on compensation of errors in the observations, so that all the observations are used and given importance on the basis of their accuracy. All computations are performed by the data processor 2.
  • the computation of the position and orientation of the touch tool 18 is based on the fact that the geometry, i.e., the relative position of the light sources 21 - 25, the reflecting point 28 and the contact point 30, is known.
  • the contact point 30 has a theoretical image point 36 on the sensor matrix 32.
  • the computed position is initially given relative to position and orientation of camera and rangefinder. By measuring a minimum of three points in known positions relative to a local coordinate system, all subsequent points can be given in this coordinate system.
  • An essential characteristic of the system is its ability to measure points which are not visible from the sensor system.
  • measuring systems based on cameras or laser distance measuring have a weakness in that points which are not visible cannot be measured.
  • a clear line of sight from the camera to the light sources 21 - 25 and from the laser rangefinder 11 to the reflecting point 28 is required.
  • a clear line of sight to the contact point 30 is not required.
  • the location of the contact point 30 relative to the other parts of the touch tool can be adapted to the geometry of the object which is to be measured.
  • the system solution can be optimised in various ways, for instance in order to increase its total measuring accuracy or to reduce the complexity of the system. In general, higher accuracy is achieved by increasing the number of cameras or number of laser rangefinders in the system.
  • the individual laser rangefinders can follow the same reflecting point 28, or the touch tool may be equipped with a plurality of reflecting points corresponding to the number of rangefinders in the system.
  • the camera and laser rangefinder units can work independent of one another with the exception of the final coordinate computation which takes into account the observations from both units.
  • Figure 4 illustrates a system based on two cameras 7, 8 in combination with one laser rangefinder 11 and touch tool 18. Greater precision of measurement is achieved with this system configuration, as the touch tool 18 is observed from two different directions.
  • the laser rangefinder 11 may be connected to one of the cameras 7, 8, or stand alone. Its position and orientation must be known relative to the cameras 7, 8, which can be done by the calibration procedure which is described below.
  • An alternative system solution may consist of one camera 7 and two laser rangefinders 11. If the touch tool has two reflecting points 28 mounted thereon, for example, at each end of the touch tool, the two laser rangefinders can each follow their respective reflecting point.
  • a considerable rationalisation gain is achieved if the active light sources are replaced with reflecting points. These can be illuminated by a flash lamp 9 which is mounted on the camera 7, thereby giving a sharp image on the camera's sensor matrix 32. One or more of these reflecting points can be used for registering distance.
  • one rangefinder can register distance to several reflecting points. This takes place in that the laser beam is directed sequentially in towards each individual point.
  • Figure 5 illustrates a system based on one camera in combination with a laser rangefinder, where the touch tool has reflecting points 28, 37 - 40 for registration by both camera and laser rangefinder.
  • a measurement consists of the camera's flash lamp 9 illuminating all reflecting points and the camera 7 registering their position.
  • the laser rangefinder 11 registers the distance to one reflecting point 28 or all reflecting points. Optionally several rangefinders can be used. Position and orientation of the touch tool is computed in the data processor 2.
  • Figure 6 shows how the system in addition to determining the position of the touch tool 18 can also determine spatial position of isolated reflecting points 19. This allows a rapid measurement to be made of fixed control points in the structure, whilst other points can be measured with the aid of the touch tool 18.
  • the procedure consists of the camera's flash lamp 9 illuminating all reflecting targets 19, and the camera thus registering the direction to these. On the basis of the registered directions the mirrors 13 in the laser rangefinder 11 are guided so that the distance to the reflecting points 19 is determined. Registration of the position of the touch tool 18 takes place in the same way as described above in relation to Figures 3 and 5.
  • Figure 7 illustrates a principle for calibration of the geometric relation between position and orientation of camera 7 and laser rangefinder 11, this means to say to determine position and orientation of the laser rangefinder 11 relative to the camera 7.
  • the calibration method consists of the simultaneous determination of position and orientation of the touch tool 18 by the camera 7 and the distance from the laser rangefinder 11 to the reflecting point 28, and that this is done for a number of randomly selected points. If the system consists of only one camera 7 arid one rangefinder 11, additional information in the form of known mutual coordinates or known distance between some of the measured points is necessary. If camera 7 and laser rangefinder 11 are permanently integrated, calibration can be a one-off procedure which is performed when the unit is produced.
  • the precision in position determination depends upon how accurately the camera and laser rangefinder can determine respectively direction and distance.
  • the accuracy of the camera depends upon whether it is calibrated so as to be able to correct for lens and sensor error.
  • Such calibration is well-known within photogrammetry technique.
  • the cameras may be factory-calibrated, as described for example in Norwegian Patent No. 165 046, or calibrated in a measuring operation.
  • Such calibration requires either the measuring of a plurality of points from different camera positions, or the photographing of a greater number of points in known mutual position from a minimum of one camera position.
  • the system and the methods described above are not dependent upon the calibration of the camera, if any.
  • the present invention provides the possibility of determining spatial coordinates for selected points with great precision and using simple measuring technique.
  • the weaknesses which encumber today's laser rangefinders are avoided , in particular:
  • the measuring technique will be particularly well-suited for use in the automotive and aviation industries.
  • the checking of production equipment for welding together car bodies is one example. High measurement accuracy and measurement rate are required, whilst the production lines are complex and obstruct the clear line-of-sight between measuring equipment and measuring point.

Claims (7)

  1. Système de mesure point-à-point de coordonnées spatiales, comportant
    - au moins une caméra optoélectronique (7, 8) disposée pour mesurer la direction spatiale dans laquelle se trouvent des sources lumineuses ponctuelles, et
    - un outil tactile (18) comportant un minimum de trois moyens lumineux (21-25) ponctuels qui possèdent des coordonnées locales connues par rapport à un système de coordonnées local fixé à l'outil, et un point de contact (30) qui se trouve dans une position connue par rapport audit système de coordonnées local,
    caractérisé en ce que :
    - un télémètre laser (11) est fourni pour mesurer la distance et, de façon optionnelle, la direction dans laquelle se trouvent des cibles réfléchissant la lumière (19, 28), ledit télémètre ayant en fonctionnement une relation de position spécifique à ladite caméra,
    - un ou plusieurs points cibles réfléchissant la lumière (28) pour ledit télémètre laser (11) est localisé sur l'outil tactile, et
    - un processeur de données (2) est conçu pour calculer la position et l'orientation spatiales dudit outil tactile (18) par rapport à ladite au moins une caméra (7, 8) et par rapport audit télémètre (11) sur la base de la connaissance de la position desdits moyens lumineux (21-25) par rapport au point de contact (30) de l'outil, des directions mesurées entre les caméras (7, 8) et les moyens lumineux (21-25) individuels et de la distance mesurée entre le télémètre laser (11) et le point/cible réfléchissant la lumière (28), de sorte que la position de l'outil (18) soit déterminée par rapport audit point de contact (30).
  2. Système selon la revendication 1, caractérisé en ce que
    - le processeur de données (2) est conçu, sur la base dudit calcul, pour modifier la direction du faisceau laser de manière à ce qu'il tombe sur ledit point/cible réfléchissant (28) pour déterminer la distance à laquelle il se trouve.
  3. Système selon la revendication 1 ou 2, caractérisé en ce que
    - les moyens lumineux de l'outil tactile (18) comprennent des cibles réfléchissant la lumière (28, 37-40) au nombre minimal de trois, et
    - au moins l'une des caméras (7, 8) comporte une lampe flash (9, 10) montée sur celle-ci pour éclairer les cibles réfléchissant la lumière (28, 37-40), et en ce que.
  4. Système selon l'une quelconque des revendications 1 à 3, caractérisé en ce qu'il comprend une seule caméra (7) qui est mécaniquement connectée avec ledit télémètre laser.
  5. Système de mesure point-à-point selon la revendication 1 ou 2, caractérisé en ce que :
    - il contient des moyens (5) pour ajuster le temps d'éclairage et l'intensité de chacun des moyens lumineux (21-25) de l'outil tactile sur la base du niveau de signal qui, à un instant donné quelconque, est détecté par les caméras (7, 8), de sorte qu'une relation signal/bruit optimale soit obtenue à tout instant.
  6. Système selon l'une quelconque des revendications 1 à 4, caractérisé en ce que
    - la caméra (7, 8) et le télémètre laser (11) sont disposés pour déterminer la direction dans laquelle se trouvent des cibles réfléchissant la lumière (19) isolées, ainsi que leur distance, et
    - le processeur de données (2) est conçu pour orienter le faisceau laser (14) du télémètre (11) sur la base des directions dans lesquelles se trouvent les cibles (19, 28) telles qu'observées par les caméras (7, 8).
  7. Système selon l'une quelconque des revendications 1 à 6, caractérisé en ce que la caméra (7) et le télémètre laser (11) sont assemblés en une seule unité, ladite unité comprenant un miroir rotatif et des moyens pour diriger un trajet optique, de sorte que le trajet optique de vision de ladite caméra et le trajet optique du faisceau laser du télémètre laser sont le long d'un premier axe commun entre les moyens pour diriger un trajet optique et le miroir et le long d'un second axe commun entre le miroir et lesdites cibles.
EP96935602A 1995-10-12 1996-10-10 Systeme de mesure point par point de coordonnees spatiales Expired - Lifetime EP0880674B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
NO954056A NO301999B1 (no) 1995-10-12 1995-10-12 Kombinasjon av laser tracker og kamerabasert koordinatmåling
NO954056 1995-10-12
PCT/NO1996/000237 WO1997014015A1 (fr) 1995-10-12 1996-10-10 Systeme de mesure point par point de coordonnees spatiales

Publications (2)

Publication Number Publication Date
EP0880674A1 EP0880674A1 (fr) 1998-12-02
EP0880674B1 true EP0880674B1 (fr) 2002-02-27

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Application Number Title Priority Date Filing Date
EP96935602A Expired - Lifetime EP0880674B1 (fr) 1995-10-12 1996-10-10 Systeme de mesure point par point de coordonnees spatiales

Country Status (7)

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US (2) US5973788A (fr)
EP (1) EP0880674B1 (fr)
JP (1) JPH11513495A (fr)
AU (1) AU7344796A (fr)
DE (2) DE69619558T2 (fr)
NO (1) NO301999B1 (fr)
WO (1) WO1997014015A1 (fr)

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EP2586396A1 (fr) 2011-10-26 2013-05-01 Metronor AS Système pour assurer la précision dans un traitement médical
WO2013068558A2 (fr) 2011-11-11 2013-05-16 Sgl Carbon Se Procédé de mesure de profils de surface lors de la finition de cellules d'électrolyse en aluminium
DE102018217219B4 (de) 2018-10-09 2022-01-13 Audi Ag Verfahren zum Ermitteln einer dreidimensionalen Position eines Objekts
EP4230837A1 (fr) 2022-02-18 2023-08-23 Sandvik Mining and Construction Lyon SAS Appareil de détection de position, véhicule minier et procédé

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NO302055B1 (no) * 1993-05-24 1998-01-12 Metronor As Fremgangsmåte og system for geometrimåling
US5729475A (en) * 1995-12-27 1998-03-17 Romanik, Jr.; Carl J. Optical system for accurate monitoring of the position and orientation of an object

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006053837A1 (fr) * 2004-11-19 2006-05-26 Leica Geosystems Ag Procede pour determiner l'orientation d'un indicateur d'orientation
CN101061393B (zh) * 2004-11-19 2010-09-29 莱卡地球系统公开股份有限公司 用于确定方位指示器的方位的方法
WO2006069748A1 (fr) * 2004-12-23 2006-07-06 Ife Industrielle Forschung Und Entwicklung Gmbh Dispositif de mesure d'un objet et procede pour utiliser un dispositif de ce type
DE102006003569A1 (de) * 2006-01-25 2007-07-26 Axios 3D Services Gmbh Positionsbestimmungssystem
DE202006020719U1 (de) 2006-01-25 2009-08-27 Axios 3D Services Gmbh Positionsbestimmungssystem
WO2013007353A1 (fr) 2011-07-08 2013-01-17 Pi Micos Gmbh Procédé et dispositif de détermination de la position et de l'orientation d'un corps
DE102011107451B3 (de) * 2011-07-08 2012-08-23 Albert-Ludwigs-Universität Freiburg Verfahren und Vorrichtung zur Bestimmung der Position und Orientierung eines Körpers
EP2586396A1 (fr) 2011-10-26 2013-05-01 Metronor AS Système pour assurer la précision dans un traitement médical
WO2013068558A2 (fr) 2011-11-11 2013-05-16 Sgl Carbon Se Procédé de mesure de profils de surface lors de la finition de cellules d'électrolyse en aluminium
WO2013068558A3 (fr) * 2011-11-11 2013-08-22 Sgl Carbon Se Procédé de mesure de profils de surface lors de la finition de cellules d'électrolyse en aluminium
CN104093886A (zh) * 2011-11-11 2014-10-08 西格里碳素欧洲公司 测量在工作的铝电解槽中的表面轮廓的方法
CN104093886B (zh) * 2011-11-11 2016-10-12 西格里碳素欧洲公司 测量在工作的铝电解槽中的表面轮廓的方法
DE102018217219B4 (de) 2018-10-09 2022-01-13 Audi Ag Verfahren zum Ermitteln einer dreidimensionalen Position eines Objekts
EP4230837A1 (fr) 2022-02-18 2023-08-23 Sandvik Mining and Construction Lyon SAS Appareil de détection de position, véhicule minier et procédé
WO2023156213A1 (fr) 2022-02-18 2023-08-24 Sandvik Mining And Construction Lyon Sas Appareil de détection de position, véhicule minier et procédé

Also Published As

Publication number Publication date
DE880674T1 (de) 1999-06-02
NO954056D0 (no) 1995-10-12
US5973788A (en) 1999-10-26
JPH11513495A (ja) 1999-11-16
DE69619558D1 (de) 2002-04-04
EP0880674A1 (fr) 1998-12-02
AU7344796A (en) 1997-04-30
WO1997014015A1 (fr) 1997-04-17
NO301999B1 (no) 1998-01-05
US6166809A (en) 2000-12-26
NO954056L (no) 1997-04-14
DE69619558T2 (de) 2002-10-31

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